Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 157 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -46446.488 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -46446.488

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 29 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 44 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 157 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 172633,4739.589,-12252.167,13,1.2,13,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.186,-0.145

_SM_DEPTHo 0.84 KALMAN_X 5145.6,251.1,43.7,-5264.8,145.6

_SM_ANGLEo -59.4 KALMAN_Y 8164.5,403.3,70.4,-8850.3,111.2

GPS2 173126,4739.651,-12252.057,14,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 213.7,549,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.3,1.021855 XPDR_PINGS 0

SM_CCo 2813,119.05,0.581,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.7,51.8

SM_GC 0.84,0.00,0.00,119.05,0.000,0.000,0.581,462,1814,1586,-12.13,0.40,400.08 _24V_AH 23.9,18.611

IRIDIUM_FIX 4735.69,-11734.41,300907,202036 _10V_AH 10.1,39.811

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6465,258

HUMID 2013 CFSIZE 260034560,252260352

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 300907,182214,4739.598,-12252.199,8,1.2,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 223 170.75 SBE_CT 173 24 99.35

Roll_motor 30 79 58.24 nil 0 0 0.00

VBD_pump_during_apogee 193 680 3147.10 nil 0 0 0.00

VBD_pump_during_surface 119 581 1654.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.26 nil 0 0 0.00

Iridium_during_connect 33 160 127.78 ARS 0 0 0.00

Iridium_during_xfer 109 223 582.42

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3341 6 511.04

GPS 14 50 7.56

TT8 488 19 97.67

LPSleep 1591 2 35.20

TT8_Active 419 19 83.81

TT8_Sampling 459 39 184.90

TT8_CF8 299 45 138.46

TT8_Kalman 33 81 27.54

Analog_circuits 689 12 83.58

GPS_charging 0 0 0.00

Compass 431 8 34.90

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.63 -122.2 0.0 0.0 0 106 0.00 0.00 -79.12 0.000 2 0.000 0.000 461 1816 3297

108 -1.63 -122.2 2.2 -4.9 13 139 15.25 0.00 -13.07 0.000 6 0.224 0.000 2741 1817 3718

205 -1.63 -122.2 8.2 -6.1 28 211 0.00 2.67 0.00 0.000 4 0.000 0.072 2741 405 3721

231 -1.63 -122.2 9.8 -6.5 32 237 0.00 2.42 0.00 0.000 6 0.000 0.035 2741 1807 3721

303 -1.63 -122.2 13.0 -5.0 43 309 0.00 2.47 0.00 0.000 4 0.000 0.050 2741 3181 3721

421 -1.63 -122.2 19.3 -5.2 61 428 0.00 2.42 0.00 0.000 6 0.000 0.038 2741 1807 3721

491 -1.63 -122.2 22.8 -5.2 68 492 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1807 3721

682 -1.63 -122.2 33.9 -5.4 83 686 0.00 2.67 0.00 0.000 4 0.000 0.074 2741 388 3721

808 -1.63 -122.2 41.2 -5.9 92 812 0.00 2.45 0.00 0.000 6 0.000 0.035 2741 1794 3721

1003 -1.63 -122.2 53.1 -6.4 107 1004 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1799 3721

1193 -1.63 -122.2 65.0 -6.7 122 1198 0.00 2.50 0.00 0.000 4 0.000 0.050 2741 3192 3721

1292 -1.63 -122.2 72.0 -8.0 129 1296 0.00 2.45 0.00 0.000 6 0.000 0.038 2741 1800 3721

1487 -1.63 -122.2 84.3 -5.7 144 1488 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1800 3721

1679 -1.63 -122.2 94.0 -5.3 159 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1800 3722

1800 end dive: TARGET_DEPTH_EXCEEDED

state 1801 begin apogee

1806 -0.38 0.0 100.6 5.1 169 1912 1.38 0.00 98.18 0.680 6 0.107 0.000 3012 1726 3217

1912 end apogee: CONTROL_FINISHED_OK

state 1913 begin climb

1915 1.63 122.2 101.1 0.0 178 2015 1.98 0.00 95.38 0.651 6 0.058 0.000 3454 1726 2717

2200 1.63 122.2 70.8 12.8 201 2204 0.00 2.67 0.00 0.000 4 0.000 0.080 3454 334 2716

2233 1.63 122.2 66.6 13.2 203 2237 0.00 2.45 0.00 0.000 6 0.000 0.036 3454 1728 2715

2434 1.63 122.2 42.0 11.7 219 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 3454 1728 2715

2625 1.63 122.2 20.0 12.1 234 2629 0.00 2.67 0.00 0.000 4 0.000 0.077 3454 338 2715

2697 1.63 122.2 11.2 12.1 244 2703 0.00 2.45 0.00 0.000 6 0.000 0.035 3454 1737 2715

2747 end climb: SURFACE_DEPTH_REACHED

state 2747 begin surface coast

2788 end surface coast: CONTROL_FINISHED_OK

state 2788 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	157	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-46446.488	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	172633,4739.589,-12252.167,13,1.2,13,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.186,-0.145
_SM_DEPTHo	0.84	KALMAN_X	5145.6,251.1,43.7,-5264.8,145.6
_SM_ANGLEo	-59.4	KALMAN_Y	8164.5,403.3,70.4,-8850.3,111.2
GPS2	173126,4739.651,-12252.057,14,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	213.7,549,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	124

FINISH	0.3,1.021855	XPDR_PINGS	0
SM_CCo	2813,119.05,0.581,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.7,51.8
SM_GC	0.84,0.00,0.00,119.05,0.000,0.000,0.581,462,1814,1586,-12.13,0.40,400.08	_24V_AH	23.9,18.611
IRIDIUM_FIX	4735.69,-11734.41,300907,202036	_10V_AH	10.1,39.811
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6465,258
HUMID	2013	CFSIZE	260034560,252260352
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	300907,182214,4739.598,-12252.199,8,1.2,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	223	170.75	SBE_CT	173	24	99.35
Roll_motor	30	79	58.24	nil	0	0	0.00
VBD_pump_during_apogee	193	680	3147.10	nil	0	0	0.00
VBD_pump_during_surface	119	581	1654.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.26	nil	0	0	0.00
Iridium_during_connect	33	160	127.78	ARS	0	0	0.00
Iridium_during_xfer	109	223	582.42
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3341	6	511.04
GPS	14	50	7.56
TT8	488	19	97.67
LPSleep	1591	2	35.20
TT8_Active	419	19	83.81
TT8_Sampling	459	39	184.90
TT8_CF8	299	45	138.46
TT8_Kalman	33	81	27.54
Analog_circuits	689	12	83.58
GPS_charging	0	0	0.00
Compass	431	8	34.90
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.63	-122.2	0.0	0.0	0	106	0.00	0.00	-79.12	0.000	2	0.000	0.000	461	1816	3297
108	-1.63	-122.2	2.2	-4.9	13	139	15.25	0.00	-13.07	0.000	6	0.224	0.000	2741	1817	3718
205	-1.63	-122.2	8.2	-6.1	28	211	0.00	2.67	0.00	0.000	4	0.000	0.072	2741	405	3721
231	-1.63	-122.2	9.8	-6.5	32	237	0.00	2.42	0.00	0.000	6	0.000	0.035	2741	1807	3721
303	-1.63	-122.2	13.0	-5.0	43	309	0.00	2.47	0.00	0.000	4	0.000	0.050	2741	3181	3721
421	-1.63	-122.2	19.3	-5.2	61	428	0.00	2.42	0.00	0.000	6	0.000	0.038	2741	1807	3721
491	-1.63	-122.2	22.8	-5.2	68	492	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1807	3721
682	-1.63	-122.2	33.9	-5.4	83	686	0.00	2.67	0.00	0.000	4	0.000	0.074	2741	388	3721
808	-1.63	-122.2	41.2	-5.9	92	812	0.00	2.45	0.00	0.000	6	0.000	0.035	2741	1794	3721
1003	-1.63	-122.2	53.1	-6.4	107	1004	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1799	3721
1193	-1.63	-122.2	65.0	-6.7	122	1198	0.00	2.50	0.00	0.000	4	0.000	0.050	2741	3192	3721
1292	-1.63	-122.2	72.0	-8.0	129	1296	0.00	2.45	0.00	0.000	6	0.000	0.038	2741	1800	3721
1487	-1.63	-122.2	84.3	-5.7	144	1488	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1800	3721
1679	-1.63	-122.2	94.0	-5.3	159	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1800	3722
1800	end dive: TARGET_DEPTH_EXCEEDED
state	1801	begin apogee
1806	-0.38	0.0	100.6	5.1	169	1912	1.38	0.00	98.18	0.680	6	0.107	0.000	3012	1726	3217
1912	end apogee: CONTROL_FINISHED_OK
state	1913	begin climb
1915	1.63	122.2	101.1	0.0	178	2015	1.98	0.00	95.38	0.651	6	0.058	0.000	3454	1726	2717
2200	1.63	122.2	70.8	12.8	201	2204	0.00	2.67	0.00	0.000	4	0.000	0.080	3454	334	2716
2233	1.63	122.2	66.6	13.2	203	2237	0.00	2.45	0.00	0.000	6	0.000	0.036	3454	1728	2715
2434	1.63	122.2	42.0	11.7	219	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	3454	1728	2715
2625	1.63	122.2	20.0	12.1	234	2629	0.00	2.67	0.00	0.000	4	0.000	0.077	3454	338	2715
2697	1.63	122.2	11.2	12.1	244	2703	0.00	2.45	0.00	0.000	6	0.000	0.035	3454	1737	2715
2747	end climb: SURFACE_DEPTH_REACHED
state	2747	begin surface coast
2788	end surface coast: CONTROL_FINISHED_OK
state	2788	begin surface